Disclosed herein is an object detection system, including apparatuses and methods for object detection. An implementation may include receiving a first image frame from an ROI detection model that generated a first ROI boundary around a first object detected in the first image frame and subsequently receiving a second image frame. The implementation further includes predicting, using an ROI tracking model, that the first ROI boundary will be present in the second image frame and then detecting whether the first ROI boundary is in fact present in the second image frame. The implementation includes determining that the second image frame should be added to a training dataset for the ROI detection model when detecting that the ROI detection model did not generate the first ROI boundary in the second image frame as predicted and re-training the ROI detection model using the training dataset.